CN112675452A - Device is put in fast in accurate controllable fire extinguishing bomb scale of placement - Google Patents
Device is put in fast in accurate controllable fire extinguishing bomb scale of placement Download PDFInfo
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- CN112675452A CN112675452A CN202011632690.4A CN202011632690A CN112675452A CN 112675452 A CN112675452 A CN 112675452A CN 202011632690 A CN202011632690 A CN 202011632690A CN 112675452 A CN112675452 A CN 112675452A
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Abstract
The invention discloses a large-scale rapid fire extinguishing bomb throwing device with accurately controllable drop points, which comprises an unmanned aerial vehicle, a support and a throwing track, wherein the unmanned aerial vehicle is arranged on the support; one side of the bracket is connected with the unmanned aerial vehicle, the other side of the bracket is connected with the throwing track, so that the throwing track is obliquely arranged and used for storing fire extinguishing bombs; the throwing track is provided with a throwing port, the inner side of the throwing port is provided with a throwing mechanism, the throwing mechanism blocks a path along which the fire extinguishing bomb moves to the throwing port, and the throwing mechanism is used for controlling the fire extinguishing bombs to be continuously thrown from the throwing port at intervals; when using, steerable unmanned aerial vehicle carries out continuous flight in the region that needs put out a fire, because the shell of putting out a fire can roll to putting in the mouth and carry out continuous interval and put in, so on the basis of guaranteeing to realize the quick input of shell of putting out a fire, still avoided the shell of putting out a fire all to put in same position to enlarged the area of putting out a fire, solved prior art effectively and can't realize putting in fast and put in the big problem that both compromise of area.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle application, in particular to a large-scale rapid fire extinguishing bomb throwing device with an accurately controllable drop point.
Background
The common release modes of the fire extinguishing bomb comprise projection and release, the projection needs to apply a forced thrust to the fire extinguishing bomb, the release does not need to apply the forced thrust, and for the release, the existing fire extinguishing bomb release method can be divided into 2 types.
The first type is to load a certain number of fire extinguishing bombs through a large fire extinguishing bomb storage tank or storage cabin, and directly open the cabin door after reaching the fire point to release a plurality of fire extinguishing bombs simultaneously. A plurality of fire extinguishing bomb pour out from the device simultaneously, vertical downstream, and the placement point is located the unmanned aerial vehicle and puts in under the point.
The disadvantage is that although a rapid dispensing of the fire extinguishing bomb is achieved, the one-off dumped fire extinguishing bombs in one tank will all fall to the same place on the ground. Because every fire extinguishing bomb possesses an effective fire extinguishing area (such as 10 square meters), can cause very big waste when a plurality of fire extinguishing bombs fall to a place, and cause the fire extinguishing area of the fire extinguishing bomb that single unmanned aerial vehicle carried to be too little, hardly put out the large tracts of land fire. For example, 4 throwing operations can be performed only 4 times by using 4 bomb storage cabins, fire extinguishing operations can be performed only for 4 points, and the effective fire extinguishing area of one fire extinguishing device is only 40 square meters if the effective fire extinguishing area of a single fire extinguishing bomb is 10 square meters. The technology is fast, large-scale production cannot be achieved, and the fire extinguishing area is small.
The second type is that a certain limiting mechanism is arranged in a cartridge throwing bin, so that fire extinguishing cartridges can be thrown one by one. The fire extinguishing bomb dropping track is the same as the first type, the thrown fire extinguishing bomb moves vertically downwards, and the dropping point is located under the unmanned aerial vehicle dropping point.
The shortcoming lies in that although accessible unmanned aerial vehicle's removal puts in the shell that puts out a fire in a plurality of positions one by one, but only can throw one shell that puts out a fire at every turn, and throw in the action at every turn and all include that unmanned aerial vehicle removes and fix a position to the input point, and stop gear action release one piece of shell that puts out a fire. The fire is rapidly increased, fire extinguishing bombs must be put in rapidly to realize large-area fire extinguishing, and the second method is large-scale putting, but lacks rapidity. For example, to realize a fire extinguishing area of 100 square meters, the unmanned aerial vehicle and the limiting mechanism need to act 10 times respectively, and 10 fire extinguishing bombs are thrown in 10 positions respectively. This can cause the fire to spread again to the area where the fire extinguishing bomb has been put in, and seriously affect the fire extinguishing effect.
Therefore, a technical scheme capable of solving the problems is urgently needed to achieve both high throwing speed and large throwing area.
Disclosure of Invention
The invention aims to provide a large-scale rapid fire extinguishing bomb throwing device with an accurately controllable drop point, and the device is used for solving the problem that the prior art cannot realize both high throwing speed and large throwing area.
In order to solve the technical problem, the invention provides a large-scale rapid fire extinguishing bomb throwing device with accurately controllable drop points, which comprises an unmanned aerial vehicle, a support and a throwing track, wherein the unmanned aerial vehicle is arranged on the support; one side of the support is connected with the unmanned aerial vehicle, the other side of the support is connected with the throwing track, so that the throwing track is obliquely arranged and used for storing fire extinguishing bombs; the fire extinguishing bomb feeding device is characterized in that a feeding port is formed in the feeding track, a bomb feeding mechanism is arranged on the inner side of the feeding port, the bomb feeding mechanism blocks fire extinguishing bombs to move to the path of the feeding port, and the bomb feeding mechanism is used for controlling the fire extinguishing bombs to be fed at the feeding port at continuous intervals.
In one embodiment, the bottom of the unmanned aerial vehicle is provided with a guide sliding block, the support is provided with a guide sliding groove, the guide sliding groove is assembled with the guide sliding groove in a sliding fit manner, and the guide sliding groove is fixedly connected with the guide sliding block through screws.
In one embodiment, the bracket comprises a base plate, a long rod and a short rod; the top surface of the base plate is provided with the guide sliding chute; the stock with the one end of quarter butt all with the bottom surface of base plate is connected, the other end of stock and quarter butt all with put in the track connection, the stock with the quarter butt alternate segregation arranges.
In one of them embodiment, unmanned aerial vehicle's bottom is equipped with the polylith the direction slider, the polylith the parallel interval of direction slider is arranged, the polylith the equal lock of direction slider has the support, the support all is connected with put in the track.
In one embodiment, the plurality of throwing tracks have different inclination angles, and the throwing openings of the plurality of throwing tracks are arranged on the same side of the unmanned aerial vehicle.
In one embodiment, the plurality of throwing tracks have different inclination angles, a part of throwing ports of the throwing tracks are arranged on one side of the unmanned aerial vehicle, and the other part of throwing ports of the throwing tracks are arranged on the other side of the unmanned aerial vehicle.
In one embodiment, the projectile shooting mechanism comprises a rotating shaft, a blade and a driving motor; the rotating shaft is arranged in the throwing track and is vertical to the length direction of the throwing track; the blades are connected to the rotating shaft, the blades are arranged along the circumferential direction of the rotating shaft, and a notch for turning over the blades is formed in the bottom of the throwing track; the driving motor is connected with the rotating shaft and used for driving the rotating shaft to rotate, so that the fire extinguishing bomb is controlled to be thrown from the throwing port through overturning of the blades.
In one embodiment, the number of the blades is three, and the included angle between every two adjacent blades is 120 degrees.
In one embodiment, the length of the blade is smaller than the inner diameter of the throwing track, and the blade is separated from the inner wall of the throwing track.
In one embodiment, the gap separates the feeding track into a first track section and a second track section, the first track section is longer than the second track section, the first track section is arranged above the second track section, and the first track section is used for storing the fire extinguishing bomb.
The invention has the following beneficial effects:
when in application, a plurality of projectile tracks with different inclination angles and different orientations are arranged on the unmanned aerial vehicle, so that the unmanned aerial vehicle can be controlled to continuously fly in an area needing fire extinguishing, because one side of the bracket is connected with the unmanned aerial vehicle and the other side of the bracket is connected with the throwing track, the throwing track is obliquely arranged and used for storing fire extinguishing bombs, the fire extinguishing bomb can automatically roll to the throwing opening for throwing, and the bomb throwing mechanism is blocked on the path of the fire extinguishing bomb moving to the throwing opening and is used for controlling the fire extinguishing bomb to be continuously thrown from the throwing opening at intervals, therefore, on the basis of ensuring that the fire extinguishing bomb is rapidly thrown, each fire extinguishing bomb is also ensured to be thrown to different positions, thereby enlarging the fire extinguishing area and practically solving the problem that the prior art can not realize both high throwing speed and large throwing area. The fire extinguishing bomb landing point can be accurately calculated by setting the dip angle and the orientation of the throwing track.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a large-scale rapid fire-extinguishing bomb feeding device according to a first embodiment of the invention;
fig. 2 is a disassembled schematic view of the stand and the launching track of fig. 1;
fig. 3 is a schematic view of the internal structure of the launching track of fig. 1;
FIG. 4 is a schematic illustration of the fire extinguishing bomb delivery principle of FIG. 3;
FIG. 5 is a schematic structural diagram of a second embodiment of the device for the scaled rapid dispensing of fire-extinguishing bombs of the present invention;
FIG. 6 is a schematic structural diagram of a large-scale rapid fire-extinguishing bomb feeding device according to a third embodiment of the invention;
FIG. 7 is a schematic illustration of the fire extinguishing bomb delivery of FIG. 1;
fig. 8 is a schematic diagram of spatial coordinates.
The reference numbers are as follows:
10. an unmanned aerial vehicle; 11. a guide slider; 12. hole site;
20. a support; 21. a guide chute; 22. a substrate; 23. a long rod; 24. a short bar;
30. throwing a track; 31. a throwing port; 321. a first rail segment; 322. a second rail segment; 33. a notch;
40. fire extinguishing bombs;
50. a projectile throwing mechanism; 51. a rotating shaft; 52. a blade; 53. the motor is driven.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
The invention provides a fire extinguishing bomb scale rapid throwing device with accurately controllable drop point, a first embodiment of which is shown in figures 1-4 and comprises an unmanned aerial vehicle 10, a bracket 20 and a throwing track 30; one side of the bracket 20 is connected with the unmanned aerial vehicle 10, and the other side of the bracket 20 is connected with the throwing track 30, so that the throwing track 30 is obliquely arranged, and the throwing track 30 is used for storing fire extinguishing bombs 40; the throwing track 30 is provided with a throwing port 31, the inner side of the throwing port 31 is provided with a throwing mechanism 50, the throwing mechanism 50 is blocked on a path that the fire extinguishing bomb 40 moves to the throwing port 31, and the throwing mechanism 50 is used for controlling the fire extinguishing bomb 40 to be continuously thrown from the throwing port 31 at intervals.
When using, steerable unmanned aerial vehicle 10 carries out continuous flight in the region that needs put out a fire, because the bullet of putting out a fire 40 can roll to input mouth 31 automatically, so throw bullet mechanism 50 and will carry out continuous interval to the bullet of putting out a fire 40 and put in, on the basis of guaranteeing to realize the quick input of the bullet of putting out a fire promptly, still avoided the bullet of putting out a fire 40 all to put on same position to enlarged the area of putting out a fire, solved prior art effectively and can't realize that the input speed is fast and put in the problem that the area was big both compromise.
As shown in fig. 1 and fig. 2, the bottom of unmanned aerial vehicle 10 is equipped with guide slide 11, and support 20 is equipped with guide chute 21, and guide chute 21 sliding fit assemble, and it is fixed to be connected for the screw between guide chute 21 and the guide slide 11.
At this moment, the guide sliding block 11 is rectangular, and the guide sliding groove 21 is a straight groove, so when the guide sliding block 11 slides along the track of the guide sliding groove 21, the alignment installation of the unmanned aerial vehicle 10 and the support 20 can be realized, and in addition, the corresponding hole sites 12 are arranged on the guide sliding block 11 and the guide sliding groove 21, and after the corresponding hole sites 12 are installed through screws, the installation and fixation of the unmanned aerial vehicle 10 and the support 20 can be realized.
Specifically, the bracket 20 includes a base plate 22, a long bar 23, and a short bar 24; the top surface of the base plate 22 is provided with a guide chute 21; one end of the long rod 23 and one end of the short rod 24 are both connected with the bottom surface of the base plate 22, the other end of the long rod 23 and the other end of the short rod 24 are both connected with the throwing track 30, and the long rod 23 and the short rod 24 are mutually separated and arranged.
In the direction shown in fig. 1 to 4, the upper end of the short rod 24 is fixedly connected with the left side of the bottom of the base plate 22, the lower end of the short rod 24 is fixedly connected with the left side of the top surface of the throwing track 30, the upper end of the long rod 23 is fixedly connected with the right side of the bottom of the base plate 22, and the lower end of the long rod 23 is fixedly connected with the right side of the top surface of the throwing track 30, so that the throwing track 30 is in a state of being high at the left and low at the right, and the fire extinguishing bomb 40 automatically rolls from the upper left.
As shown in fig. 1 to 4, the projectile throwing mechanism 50 includes a rotary shaft 51, a blade 52, and a drive motor 53; the rotating shaft 51 is arranged in the throwing track 30, and the rotating shaft 51 is vertical to the length direction of the throwing track 30; the blades 52 are connected to the rotating shaft 51, the blades 52 are arranged along the circumferential direction of the rotating shaft 51, and the bottom of the throwing track 30 is provided with a notch for turning over the blades 52; the driving motor 53 is connected to the rotating shaft 51, and the driving motor 53 is used for driving the rotating shaft 51 to rotate, so that the fire extinguishing bomb 40 is controlled by overturning the plurality of blades 52 to be thrown from the throwing port 31.
Namely, when the blade 52 shields the putting-in opening 31, the fire extinguishing bomb 40 can not pass through the putting-in opening 31 to be put in, so that the fire extinguishing bomb 40 is blocked; when the fire extinguishing bomb 40 needs to be thrown, the driving motor 53 can drive the rotating shaft 51 to rotate, and the rotation of the rotating shaft 51 can drive the blades 52 to turn clockwise, so that one fire extinguishing bomb 40 is delivered to the throwing port 31, and the fire extinguishing bombs 40 are thrown at intervals continuously.
In this embodiment, it is preferable that three vanes 52 are provided, and the included angle between adjacent vanes 52 is 120 °, so as to avoid the influence of the excessive number of vanes 52 on the smooth fire extinguishing bomb 40 delivery.
In addition, the length of the blade 52 is preferably smaller than the inner diameter of the throwing track 30, and the blade 52 is separated from the inner wall of the throwing track 30, so that the fire extinguishing bomb 40 can be clamped and prevented from falling when the fire extinguishing bomb 40 is vertical, the release of the fire extinguishing bomb 40 is not influenced during the rotation of 120 degrees, and the next fire extinguishing bomb 40 can be clamped.
As shown in fig. 3 and 4, the gap 33 separates the dispensing track 30 into a first track segment 321 and a second track segment 322, the first track segment 321 is longer than the second track segment 322, the first track segment 321 is disposed above the second track segment 322, and the first track segment 321 is used for storing the fire extinguishing bomb 40.
After the structure is adopted, a larger storage space is provided for the fire extinguishing bomb 40, and a sufficiently long acceleration channel is also provided, so that the fire extinguishing bomb 40 can be stored and rolled to be accelerated to be thrown, and the throwing efficiency is improved.
Specifically, the drop point calculation process of the fire extinguishing bomb 40 is as follows (refer to fig. 7 and 8):
according to the space position of the unmanned aerial vehicle 10 at the moment of throwing, a fixed included angle theta between the throwing track 30 and the vertical direction, the length l of the second track section 322 and the constant-speed flight speed v of the unmanned aerial vehicle 10 are obtained, and therefore accurate drop point prediction is achieved.
After the fire extinguishing bomb 40 is released by the bomb-throwing mechanism 50, the fire extinguishing bomb 40 rolls in the throwing track 30 for a distance l and then is separated from the throwing track 30. This distance l is the length of the second rail section 322. The gravitational force g can be decomposed into a force f perpendicular to the direction of movement of the projectile 40 and a force a parallel to the direction of movement of the projectile 40. During the distance of roll l of the fire extinguishing bomb 40, only the component force of the gravity g in the direction parallel to the moving direction of the fire extinguishing bomb 40 is applied. Initial velocity v of the fire extinguishing bomb 40 leaving the dispensing track 300The value of a is g sin θ.
From the law of newton's motion,
to obtain
From Newton's law of motion, 0.5 × a × t2＝l
The time taken for the fire extinguishing bomb 40 to move for the distance l is t0，
The flight direction of the unmanned aerial vehicle 10 is taken as the positive direction of the y axis, the vertical direction is taken as the positive direction of the z axis, and the fire extinguishing bomb 40 is far away from the direction of the unmanned aerial vehicle 10 to establish a space 3-dimensional coordinate system for the positive direction of the x axis. The space coordinate of the unmanned aerial vehicle 10 after the blade 52 rotates 120 degrees is A1(x1，y1，z1). After the fire extinguishing bomb 40 is separated from the throwing track 30, the fire extinguishing bomb moves to A along a parabola under the action of gravity g2(x2，y2And 0) point. If there is no such initial velocity v0The fire extinguishing bomb 40 will fall to A3(x3，y30) point, A2And A3The dot distance is X.
The time from the moment when the fire extinguishing bomb 40 is released from the releasing track 30 to the landing is t1
Solving equations
Then t can be obtained1
The fire extinguishing bomb 40 moves along the Y-axis by a distance Y ═ v × (t)0+t1)
The fire extinguishing bomb 40 moves along the X-axis by a distance X-v0×sinθ×t1(counting the moving time t of the fire extinguishing bomb 40 in the bomb throwing mechanism 50 and the throwing track 300Because the fire extinguishing bomb 40 is still on the unmanned plane 10 at this time)
From x2＝x1+ X and y2＝y1+Y
A second embodiment of the device for rapidly releasing fire extinguishing bombs in large scale is shown in fig. 2 and 5, and is basically the same as the first embodiment, except that a plurality of guide sliders 11 are arranged at the bottom of an unmanned aerial vehicle 10, the guide sliders 11 are arranged in parallel at intervals, a plurality of guide sliders 11 are buckled with a bracket 20, and the bracket 20 is connected with a releasing track 30.
When using promptly, can adjust the quantity of puting in track 30 according to the condition of a fire, if the condition of a fire is comparatively violent, then load more and put in track 30, if the condition of a fire is slightly, then can suitably reduce the quantity of puting in track 30 to improve and use the flexibility, in order to satisfy the demand of different in service behavior.
Specifically, the inclination angles of the plurality of throwing tracks 30 are different from each other, and the throwing openings 31 of the plurality of throwing tracks 30 are arranged on the same side of the unmanned aerial vehicle 10.
Therefore, when the fire extinguishing bomb 40 is thrown, the two throwing rails 30 are simultaneously operated to throw one fire extinguishing bomb. The fire extinguishing bomb is thrown out along different trajectories along the right side relative to the flight direction of the drone, which will allow the fire extinguishing bomb 40 to have a more varied trajectory of throw. The fire extinguishing bomb finally falls to the right side of the flight direction of the unmanned aerial vehicle, and the falling point can be calculated. After a plurality of actions, the coverage range of the fire extinguishing bomb 40 is enlarged, so that the fire extinguishing efficiency is greatly improved.
A third embodiment of the large-scale rapid fire extinguishing bomb 40 throwing device of the invention is shown in fig. 6, which is basically the same as the second embodiment except that the plurality of throwing tracks 30 have different inclination angles, a part of the throwing tracks 30 have the throwing openings 31 arranged on one side of the unmanned aerial vehicle 10, and another part of the throwing tracks 30 have the throwing openings 31 arranged on the other side of the unmanned aerial vehicle 10.
Compared with the second embodiment of the present invention, the four throwing tracks 30 simultaneously act to throw one fire extinguishing bomb respectively, the fire extinguishing bombs are thrown along the left side and the right side of the flight direction of the unmanned aerial vehicle, and the fire extinguishing bombs thrown by the throwing tracks 30 on the same side of the throwing port have different tracks. The fire extinguishing bomb finally falls to the left and right sides of the flight direction of the unmanned aerial vehicle, and the falling point can be calculated. Through a plurality of actions, the embodiment further expands the throwing range of the fire extinguishing bomb 40, thereby obtaining better fire extinguishing effect.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.
Claims (10)
1. A large-scale rapid fire extinguishing bomb throwing device with accurately controllable drop points, which is characterized in that,
the unmanned aerial vehicle comprises an unmanned aerial vehicle, a bracket and a throwing track;
one side of the support is connected with the unmanned aerial vehicle, the other side of the support is connected with the throwing track, so that the throwing track is obliquely arranged and used for storing fire extinguishing bombs;
the fire extinguishing bomb feeding device is characterized in that a feeding port is formed in the feeding track, a bomb feeding mechanism is arranged on the inner side of the feeding port, the bomb feeding mechanism blocks fire extinguishing bombs to move to the path of the feeding port, and the bomb feeding mechanism is used for controlling the fire extinguishing bombs to be fed at the feeding port at continuous intervals.
2. The device is put in on fire extinguishing bomb scale fast to claim 1, characterized in that, unmanned aerial vehicle's bottom is equipped with the guide slide block, the support is equipped with the direction spout, the direction spout with the assembly of guide slide groove sliding fit, the direction spout with it is fixed to be connected by screw between the guide slide block.
3. The device for scaled rapid delivery of fire extinguishing bombs according to claim 2, wherein the support comprises a base plate, a long rod and a short rod; the top surface of the base plate is provided with the guide sliding chute; the stock with the one end of quarter butt all with the bottom surface of base plate is connected, the other end of stock and quarter butt all with put in the track connection, the stock with the quarter butt alternate segregation arranges.
4. The device is put in on fire extinguishing bomb scale fast to claim 2, characterized in that, unmanned aerial vehicle's bottom is equipped with the polylith the direction slider, the polylith the direction slider is parallel interval to be arranged, the polylith the direction slider all the lock have the support, the support all is connected with put in the track.
5. The device is put in fast in fire extinguishing bomb scale according to claim 4, characterized in that, a plurality of orbital inclination of puting in is mutually different, and is a plurality of orbital putting in mouth setting position all is in unmanned aerial vehicle's same one side.
6. The device is put in on fire extinguishing bomb scale fast to claim 4, characterized in that, a plurality of the orbital inclination of puting in is mutually different, and partly puting in orbital puting in mouth set up the position and being in unmanned aerial vehicle's one side, another part puting in orbital puting in mouth set up the position and being in unmanned aerial vehicle's opposite side.
7. The large-scale rapid fire extinguishing bomb throwing device according to claim 1,
the bullet feeding mechanism comprises a rotating shaft, blades and a driving motor;
the rotating shaft is arranged in the throwing track and is vertical to the length direction of the throwing track;
the blades are connected to the rotating shaft, the blades are arranged along the circumferential direction of the rotating shaft, and a notch for turning over the blades is formed in the bottom of the throwing track;
the driving motor is connected with the rotating shaft and used for driving the rotating shaft to rotate, so that the fire extinguishing bomb is controlled to be thrown from the throwing port through overturning of the blades.
8. The device for large-scale and quick release of fire extinguishing bombs according to claim 7, wherein the number of the blades is three, and the included angle between adjacent blades is 120 °.
9. The device for large-scale and quick release of fire extinguishing bombs according to claim 7, wherein the length of the blades is smaller than the inner diameter of the release track, and the blades are separated from the inner wall of the release track.
10. The device for large-scale and quick release of fire extinguishing bombs according to claim 7, wherein the gap separates the release track into a first track section and a second track section, the first track section is longer than the second track section, the first track section is arranged above the second track section, and the first track section is used for storing the fire extinguishing bombs.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011632690.4A CN112675452A (en) | 2020-12-31 | 2020-12-31 | Device is put in fast in accurate controllable fire extinguishing bomb scale of placement |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011632690.4A CN112675452A (en) | 2020-12-31 | 2020-12-31 | Device is put in fast in accurate controllable fire extinguishing bomb scale of placement |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114515400A (en) * | 2022-03-03 | 2022-05-20 | 西南交通大学 | Tunnel fire extinguishing device and magnetic suspension tunnel fire extinguishing system |
| CN116399173A (en) * | 2023-04-26 | 2023-07-07 | 北京理工大学 | Suppression device for accidental blasting of explosive energetic materials |
-
2020
- 2020-12-31 CN CN202011632690.4A patent/CN112675452A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114515400A (en) * | 2022-03-03 | 2022-05-20 | 西南交通大学 | Tunnel fire extinguishing device and magnetic suspension tunnel fire extinguishing system |
| CN116399173A (en) * | 2023-04-26 | 2023-07-07 | 北京理工大学 | Suppression device for accidental blasting of explosive energetic materials |
| CN116399173B (en) * | 2023-04-26 | 2024-03-19 | 北京理工大学 | Suppression device for accidental blasting of explosive energetic materials |
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